Flightmodes
From MultiWii
The Multiwii flight controller can be used in several different modes, depending on the sensors that are present. The table below shows the the modes and the sensors that are used:
| Mode | Gyroscope | Accelerometer | Barometer | Sonar | Compass (mag) | GPS | Optical Flow Sensor |
|---|---|---|---|---|---|---|---|
| PassThrough | |||||||
| Acro / Gyro only | X | ||||||
| Stable / Level / Acc / Angle | X | X | |||||
| Horizon | X | X | |||||
| HeadFree (CareFree) | X | X | X | ||||
| Altitude Hold | X | X | X | ||||
| GPS Return to Home | X | X | X | X | |||
| GPS Waypoint | X | X | X | X | |||
| GPS Position Hold | X | X | X | X | |||
| Failsafe | X |
X = Required Hardware/Mode, x = Recommended Hardware/Mode
- Acro Mode and Stable Mode and Horizon Mode are exclusive.
- HeadFree (CareFree), altitude hold and GPS mode all work simultaneously.
- GPS functions all require Level Mode / Mag / GPS however Altitude hold is advisable hence a Baro is recommended.
- Features not implemented or only partially in 2.2:
- Sonar based Altitude hold, sonar based beeper and landing lights work.
- Optical Flow Sensor based Position Hold / Nav is not implemented, pending some code submissions by some nice volunteer.
- GPS Waypoints have a very simple single waypoint mode in 2.2, currently being worked on for 2.3 (as of 5 June 2013)
NB: This is a work in progress, please check in the forums or IRC channel if you are unsure.
